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This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers.
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Q. Nguyen, A. Hereid, J. W. Grizzle, A. D. Ames, and K. Sreenath, “3d dynamic walking on stepping stones with control barrier functions,” in IEEE International Conference on Decision and Control (CDC) , Las Vegas, NV, December 2016, pp. 827–834
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Q. Nguyen and K. Sreenath, “Exponential control barrier functions for enforcing high relative-degree safety-critical constraints,” in American Control Conference (ACC) , Boston, MA, July 2016, pp. 322–328
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A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control , vol. 62, no. 8, pp. 3861–3876, 2017
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Cited alongside, same era.
K. P. Tee, S. S. Ge, and E. H. Tay, “Barrier Lyapunov functions for the control of output-constrained nonlinear systems,” Automatica , vol. 45, no. 4, pp. 918 – 927, 2009
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A. D. Ames, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs with application to adaptive cruise control,” in Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on . IEEE, 2014, pp. 6271–6278
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A. D. Ames, K. Galloway, K. Sreenath, and J. W. Grizzle, “Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics,” IEEE Transactions on Automatic Control , vol. 59, no. 4, pp. 876–891, 2014
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X. Xu, T. Waters, D. Pickem, P. Glotfelter, M. Egerstedt, P. Tabuada, J. W. Grizzle, and A. D. Ames, “Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds,” in IEEE Conference on Control Technology and Applications , Mauna Lani, HI, August 2017, pp. 1769–1775
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L. Wang, A. D. Ames, and M. Egerstedt, “Safety barrier certificates for collisions-free multirobot systems,” IEEE Transactions on Robotics , vol. 33, no. 3, pp. 661–674, 2017
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D. Pickem, P. Glotfelter, L. Wang, M. Mote, A. Ames, E. Feron, and M. Egerstedt, “The robotarium: A remotely accessible swarm robotics research testbed,” in Robotics and Automation (ICRA), 2017 IEEE International Conference on . IEEE, 2017, pp. 1699–1706
2017
Later among the works it cites.
L. Wang, A. D. Ames, and M. Egerstedt, “Safe certificate-based maneuvers for teams of quadrotors using differential flatness,” in IEEE International Conference on Robotics and Automation (ICRA) , 2017
2017
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X. Xu, J. W. Grizzle, P. Tabuada, and A. D. Ames, “Correctness guarantees for the composition of lane keeping and adaptive cruise control,” IEEE Transactions on Automation Science and Engineering , vol. 15, no. 3, pp. 1216–1229, 2018
2018
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T. Gurriet, A. Singletary, J. Reher, L. Ciarletta, E. Feron, and A. D. Ames, “Towards a framework for realizable safety critical control through active set invariance,” in Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems . IEEE Press, 2018, pp. 98–106
2018
Later among the works it cites.
E. Squires, P. Pierpaoli, and M. Egerstedt, “Constructive barrier certificates with applications to fixed-wing aircraft collision avoidance,” in 2018 IEEE Conference on Control Technology and Applications (CCTA) , Aug 2018, pp. 1656–1661
2018
Later among the works it cites.
L. Wang, D. Han, and M. Egerstedt, “Permissive barrier certificates for safe stabilization using sum-of-squares,” in American Control Conference , 2018, pp. 585–590
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2018
Later among the works it cites.
G. Notomista, S. F. Ruf, and M. Egerstedt, “Persistification of robotic tasks using control barrier functions,” IEEE Robotics and Automation Letters , vol. 3, no. 2, pp. 758–763, 2018
2018
Later among the works it cites.
2018
Later among the works it cites.
G. Wu and K. Sreenath, “Safety-critical and constrained geometric control synthesis using control lyapunov and control barrier functions for systems evolving on manifolds,” in American Control Conference (ACC) , Chicago, IL, July 2015, pp. 2038–2044
2044
Closest in time.